transmission.h

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#ifndef INCLUDE_TINYURDF_CORE_TRANSMISSION_H_
#define INCLUDE_TINYURDF_CORE_TRANSMISSION_H_
 
// Copyright 2024-2025 Wissem CHIHA
 
#include "common/object_base.h"
 
class Transmission : public ObjectBase
{
 public:
  enum class Type
  {
    UNKNOWN,
    SIMPLE,
    DIFFERENTIAL,
    FOUR_BAR,
    PARALLEL,
  };
  Transmission();
  void clear() override;
  std::string toString() const override;
  bool isA(const char* name) const override;
  bool empty() const override;
  std::string getJointName();
  std::string getActuatorName();
  std::string getName();
 
 private:
  Type type;
  std::string name;
  std::string joint_name;
  std::string actuator_name;
};
 
#endif  // INCLUDE_TINYURDF_CORE_TRANSMISSION_H_